Case Studies in Planar Part Feeding and Assembly Based on Design of Limit Sets
International Journal of Robotics Research
Robot basketball: a comparison of ball dribbling with visual and force/torque feedback
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Bouncing an unconstrained ball in three dimensions with a blind juggling robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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The paper studies the properties of a sinusoidally vibrating wedge billiard as a model for 2-D bounce juggling. It is shown that some periodic orbits that are unstable in the elastic fixed wedge become exponentially stable in the nonelastic vibrating wedge. These orbits are linked with certain classical juggling patterns, providing an interesting benchmark for the study of the frequency-locking properties in human rhythmic tasks. Experimental results on sensorless stabilization of juggling patterns are described.